Extract common charuco detection code into charuco_lib
This lets us reuse all the charuco extraction code when we do extrinsics
calibration soon. We really just want a callback with the detected
board.
Change-Id: If806b026cc67bf9e7b61935f93b1902acdcb2783
Signed-off-by: Austin Schuh <austin.linux@gmail.com>
diff --git a/y2020/vision/charuco_lib.cc b/y2020/vision/charuco_lib.cc
new file mode 100644
index 0000000..c86663a
--- /dev/null
+++ b/y2020/vision/charuco_lib.cc
@@ -0,0 +1,248 @@
+#include "y2020/vision/charuco_lib.h"
+
+#include <chrono>
+#include <functional>
+#include <string_view>
+
+#include <opencv2/core/eigen.hpp>
+#include <opencv2/highgui/highgui.hpp>
+#include <opencv2/imgproc.hpp>
+#include "aos/events/event_loop.h"
+#include "aos/flatbuffers.h"
+#include "aos/network/team_number.h"
+#include "frc971/control_loops/quaternion_utils.h"
+#include "glog/logging.h"
+#include "y2020/vision/sift/sift_generated.h"
+#include "y2020/vision/sift/sift_training_generated.h"
+#include "y2020/vision/tools/python_code/sift_training_data.h"
+#include "y2020/vision/vision_generated.h"
+
+DEFINE_uint32(min_targets, 10,
+ "The mininum number of targets required to match.");
+DEFINE_bool(large_board, true, "If true, use the large calibration board.");
+DEFINE_bool(coarse_pattern, true, "If true, use coarse arucos; else, use fine");
+DEFINE_string(board_template_path, "",
+ "If specified, write an image to the specified path for the "
+ "charuco board pattern.");
+
+namespace frc971 {
+namespace vision {
+namespace chrono = std::chrono;
+
+CameraCalibration::CameraCalibration(
+ const absl::Span<const uint8_t> training_data_bfbs, std::string_view pi) {
+ const aos::FlatbufferSpan<sift::TrainingData> training_data(
+ training_data_bfbs);
+ CHECK(training_data.Verify());
+ camera_calibration_ = FindCameraCalibration(&training_data.message(), pi);
+}
+
+cv::Mat CameraCalibration::CameraIntrinsics() const {
+ const cv::Mat result(3, 3, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration_->intrinsics()->data())));
+ CHECK_EQ(result.total(), camera_calibration_->intrinsics()->size());
+ return result;
+}
+
+Eigen::Matrix3d CameraCalibration::CameraIntrinsicsEigen() const {
+ cv::Mat camera_intrinsics = CameraIntrinsics();
+ Eigen::Matrix3d result;
+ cv::cv2eigen(camera_intrinsics, result);
+ return result;
+}
+
+cv::Mat CameraCalibration::CameraDistCoeffs() const {
+ const cv::Mat result(5, 1, CV_32F,
+ const_cast<void *>(static_cast<const void *>(
+ camera_calibration_->dist_coeffs()->data())));
+ CHECK_EQ(result.total(), camera_calibration_->dist_coeffs()->size());
+ return result;
+}
+
+const sift::CameraCalibration *CameraCalibration::FindCameraCalibration(
+ const sift::TrainingData *const training_data, std::string_view pi) const {
+ std::optional<uint16_t> pi_number = aos::network::ParsePiNumber(pi);
+ std::optional<uint16_t> team_number =
+ aos::network::team_number_internal::ParsePiTeamNumber(pi);
+ CHECK(pi_number);
+ CHECK(team_number);
+ const std::string node_name = absl::StrFormat("pi%d", pi_number.value());
+ LOG(INFO) << "Looking for node name " << node_name << " team number "
+ << team_number.value();
+ for (const sift::CameraCalibration *candidate :
+ *training_data->camera_calibrations()) {
+ if (candidate->node_name()->string_view() != node_name) {
+ continue;
+ }
+ if (candidate->team_number() != team_number.value()) {
+ continue;
+ }
+ return candidate;
+ }
+ LOG(FATAL) << ": Failed to find camera calibration for " << node_name
+ << " on " << team_number.value();
+}
+
+ImageCallback::ImageCallback(aos::EventLoop *event_loop,
+ std::string_view channel,
+ std::function<void(cv::Mat, double)> &&fn)
+ : event_loop_(event_loop), handle_image_(std::move(fn)) {
+ event_loop_->MakeWatcher(channel, [this](const CameraImage &image) {
+ const aos::monotonic_clock::duration age =
+ event_loop_->monotonic_now() -
+ event_loop_->context().monotonic_event_time;
+ const double age_double =
+ std::chrono::duration_cast<std::chrono::duration<double>>(age).count();
+ if (age > std::chrono::milliseconds(100)) {
+ LOG(INFO) << "Age: " << age_double << ", getting behind, skipping";
+ return;
+ }
+ // Create color image:
+ cv::Mat image_color_mat(cv::Size(image.cols(), image.rows()), CV_8UC2,
+ (void *)image.data()->data());
+ const cv::Size image_size(image.cols(), image.rows());
+ cv::Mat rgb_image(image_size, CV_8UC3);
+ cv::cvtColor(image_color_mat, rgb_image, CV_YUV2BGR_YUYV);
+ handle_image_(rgb_image, age_double);
+ });
+}
+
+CharucoExtractor::CharucoExtractor(
+ aos::EventLoop *event_loop, std::string_view pi,
+ std::function<void(cv::Mat, const double, std::vector<int>,
+ std::vector<cv::Point2f>, bool, Eigen::Vector3d,
+ Eigen::Vector3d)> &&fn)
+ : calibration_(SiftTrainingData(), pi),
+ dictionary_(cv::aruco::getPredefinedDictionary(
+ FLAGS_large_board ? cv::aruco::DICT_5X5_250
+ : cv::aruco::DICT_6X6_250)),
+ board_(
+ FLAGS_large_board
+ ? (FLAGS_coarse_pattern ? cv::aruco::CharucoBoard::create(
+ 12, 9, 0.06, 0.04666, dictionary_)
+ : cv::aruco::CharucoBoard::create(
+ 25, 18, 0.03, 0.0233, dictionary_))
+ : (FLAGS_coarse_pattern ? cv::aruco::CharucoBoard::create(
+ 7, 5, 0.04, 0.025, dictionary_)
+ // TODO(jim): Need to figure out what size
+ // is for small board, fine pattern
+ : cv::aruco::CharucoBoard::create(
+ 7, 5, 0.03, 0.0233, dictionary_))),
+ camera_matrix_(calibration_.CameraIntrinsics()),
+ eigen_camera_matrix_(calibration_.CameraIntrinsicsEigen()),
+ dist_coeffs_(calibration_.CameraDistCoeffs()),
+ pi_number_(aos::network::ParsePiNumber(pi)),
+ image_callback_(
+ event_loop,
+ absl::StrCat("/pi", std::to_string(pi_number_.value()), "/camera"),
+ [this](cv::Mat rgb_image, const double age_double) {
+ HandleImage(rgb_image, age_double);
+ }),
+ handle_charuco_(std::move(fn)) {
+ LOG(INFO) << "Using " << (FLAGS_large_board ? "large" : "small")
+ << " board with " << (FLAGS_coarse_pattern ? "coarse" : "fine")
+ << " pattern";
+ if (!FLAGS_board_template_path.empty()) {
+ cv::Mat board_image;
+ board_->draw(cv::Size(600, 500), board_image, 10, 1);
+ cv::imwrite(FLAGS_board_template_path, board_image);
+ }
+
+ LOG(INFO) << "Camera matrix " << camera_matrix_;
+ LOG(INFO) << "Distortion Coefficients " << dist_coeffs_;
+
+ CHECK(pi_number_) << ": Invalid pi number " << pi
+ << ", failed to parse pi number";
+
+ LOG(INFO) << "Connecting to channel /pi" << pi_number_.value() << "/camera";
+}
+
+void CharucoExtractor::HandleImage(cv::Mat rgb_image, const double age_double) {
+ std::vector<int> marker_ids;
+ std::vector<std::vector<cv::Point2f>> marker_corners;
+
+ cv::aruco::detectMarkers(rgb_image, board_->dictionary, marker_corners,
+ marker_ids);
+
+ std::vector<cv::Point2f> charuco_corners;
+ std::vector<int> charuco_ids;
+ // If at least one marker detected
+ if (marker_ids.size() >= FLAGS_min_targets) {
+ // Run everything twice, once with the calibration, and once
+ // without. This lets us both calibrate, and also print out the pose
+ // real time with the previous calibration.
+ cv::aruco::interpolateCornersCharuco(marker_corners, marker_ids, rgb_image,
+ board_, charuco_corners, charuco_ids);
+
+ std::vector<cv::Point2f> charuco_corners_with_calibration;
+ std::vector<int> charuco_ids_with_calibration;
+
+ cv::aruco::interpolateCornersCharuco(
+ marker_corners, marker_ids, rgb_image, board_,
+ charuco_corners_with_calibration, charuco_ids_with_calibration,
+ camera_matrix_, dist_coeffs_);
+
+ cv::aruco::drawDetectedMarkers(rgb_image, marker_corners, marker_ids);
+
+ if (charuco_ids.size() >= FLAGS_min_targets) {
+ cv::aruco::drawDetectedCornersCharuco(rgb_image, charuco_corners,
+ charuco_ids, cv::Scalar(255, 0, 0));
+
+ cv::Vec3d rvec, tvec;
+ const bool valid = cv::aruco::estimatePoseCharucoBoard(
+ charuco_corners_with_calibration, charuco_ids_with_calibration,
+ board_, camera_matrix_, dist_coeffs_, rvec, tvec);
+
+ // if charuco pose is valid
+ if (valid) {
+ Eigen::Vector3d rvec_eigen;
+ Eigen::Vector3d tvec_eigen;
+ cv::cv2eigen(rvec, rvec_eigen);
+ cv::cv2eigen(tvec, tvec_eigen);
+
+ Eigen::Quaternion<double> rotation(
+ frc971::controls::ToQuaternionFromRotationVector(rvec_eigen));
+ Eigen::Translation3d translation(tvec_eigen);
+
+ const Eigen::Affine3d board_to_camera = translation * rotation;
+
+ Eigen::Matrix<double, 3, 4> camera_projection =
+ Eigen::Matrix<double, 3, 4>::Identity();
+ Eigen::Vector3d result = eigen_camera_matrix_ * camera_projection *
+ board_to_camera * Eigen::Vector3d::Zero();
+
+ result /= result.z();
+ cv::circle(rgb_image, cv::Point(result.x(), result.y()), 4,
+ cv::Scalar(255, 255, 255), 0, cv::LINE_8);
+
+ cv::aruco::drawAxis(rgb_image, camera_matrix_, dist_coeffs_, rvec, tvec,
+ 0.1);
+
+ handle_charuco_(rgb_image, age_double, charuco_ids, charuco_corners,
+
+ true, rvec_eigen, tvec_eigen);
+ } else {
+ LOG(INFO) << "Age: " << age_double << ", invalid pose";
+ handle_charuco_(rgb_image, age_double, charuco_ids, charuco_corners,
+
+ false, Eigen::Vector3d::Zero(),
+ Eigen::Vector3d::Zero());
+ }
+ } else {
+ LOG(INFO) << "Age: " << age_double << ", no charuco IDs.";
+ handle_charuco_(rgb_image, age_double, charuco_ids, charuco_corners,
+
+ false, Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero());
+ }
+ } else {
+ LOG(INFO) << "Age: " << age_double << ", no marker IDs";
+ cv::aruco::drawDetectedMarkers(rgb_image, marker_corners, marker_ids);
+
+ handle_charuco_(rgb_image, age_double, charuco_ids, charuco_corners, false,
+ Eigen::Vector3d::Zero(), Eigen::Vector3d::Zero());
+ }
+}
+
+} // namespace vision
+} // namespace frc971